fix minor bugs for RVC3 examples running in Jupyter

Author: petercorke

roboticstoolbox/mobile/DistanceTransformPlanner.py

@@ -106,7 +106,7 @@ def __str__(self):
 
         return s
 
-    def plan(self, goal=None, animate=False, verbose=False):
+    def plan(self, goal=None, animate=False, summary=False):
         r"""
         Plan path using distance transform
 
@@ -135,7 +135,8 @@ def plan(self, goal=None, animate=False, verbose=False):
             self.occgrid.grid,
             goal=self._goal,
             metric=self._metric,
-            animate=animate
+            animate=animate,
+            summary=summary,
         )
 
     def next(self, position):
@@ -215,7 +216,7 @@ def plot_3d(self, path=None, ls=None):
             line/surface handling.
         """
         fig = plt.figure()
-        ax = fig.gca(projection="3d")
+        ax = fig.add_subplot(111, projection="3d")
 
         distance = self._distancemap
         X, Y = np.meshgrid(np.arange(distance.shape[1]), np.arange(distance.shape[0]))
@@ -273,7 +274,7 @@ def distancexform(occgrid, goal, metric="cityblock", animate=False, summary=Fals
     # - other cells are inf
     # - goal is zero
 
-    goal = base.getvector(goal, 2, dtype=np.int)
+    goal = base.getvector(goal, 2, dtype=int)
 
     distance = occgrid.astype(np.float32)
     distance[occgrid > 0] = np.nan  # assign nan to obstacle cells

roboticstoolbox/mobile/DubinsPlanner.py

@@ -391,6 +391,15 @@ def __str__(self):
             super().__str__()
             + f"\n  curvature={self.curvature}, stepsize={self.stepsize}"
         )
+        return s
+
+    @property
+    def curvature(self):
+        return self._curvature
+
+    @property
+    def stepsize(self):
+        return self._stepsize
 
     def query(self, start, goal, **kwargs):
         r"""

roboticstoolbox/mobile/PRMPlanner.py

@@ -294,7 +294,7 @@ def plot(self, *args, vertex={}, edge={}, **kwargs):
         edge = {**dict(linewidth=0.5), **edge}
 
         # add the roadmap graph
-        self.graph.plot(text=False, vopt=vertex, eopt=edge)
+        self.graph.plot(text=False, vopt=vertex, eopt=edge, ax=ax)
 
 
 if __name__ == "__main__":

roboticstoolbox/mobile/PlannerBase.py

@@ -11,7 +11,7 @@
 from spatialmath.base.transforms2d import *
 from spatialmath.base.vectors import *
 from spatialmath.base.argcheck import getvector
-from spatialmath.base.graphics import axes_logic, plotvol2
+from spatialmath.base.graphics import axes_logic, plotvol2, axes_get_scale
 
 # from spatialmath import SE2, SE3
 from matplotlib import cm
@@ -125,8 +125,8 @@ def __str__(self):
         :rtype: str
         """
         s = f"{self.__class__.__name__}: "
-        if self._occgrid0 is not None:
-            s += "\n  " + str(self.occgrid)
+        if hasattr(self, "_occgrid") and self._occgrid is not None:
+            s += "\n  " + str(self._occgrid)
         if self._start is not None:
             s += f"\n  Start: {self.start}"
         if self._goal is not None:
@@ -766,7 +766,8 @@ def plot(
         else:
             ax.set_zlabel(r"$\theta$")
 
-        plt.show(block=block)
+        if block:
+            plt.show(block=block)
 
         return ax
 
@@ -802,6 +803,7 @@ def plot_bg(
         ax=None,
         inflated=True,
         colorbar=True,
+        block=False,
         **unused,
     ):
         """